@book{suli2003introduction,
  title={An introduction to numerical analysis},
  author={S{\"u}li, Endre and Mayers, David F},
  year={2003},
  publisher={Cambridge university press}
}
@article{chen2024ikalibr,
  title={iKalibr: Unified Targetless Spatiotemporal Calibration for Resilient Integrated Inertial Systems},
  author={Chen, Shuolong and Li, Xingxing and Li, Shengyu and Zhou, Yuxuan and Yang, Xiaoteng},
  journal={arXiv preprint arXiv:2407.11420},
  year={2024}
}